C++ Hello World example

The hello_world_demo is an example application to show you how to use the KUKA youBot API for writing your own applications. You can use all the sources in this directory as a template. Controlling both, the KUKA youBot base and the youBot manipulator are shown in this example.

Hydro and Indigo

Installation using build catkin_make

You first need to checkout the source code of this program from SVN and then compile it.

cd <your catkin workspace>/src
git clone https://github.com/wnowak/youbot_applications
cd ..
catkin_make

Usage

To run program you have to run a command:

rosrun hello_world_demo youBot_HelloWorldDemo

The program will start, moving the base and the arm. The youBot will move approx. 10cm forwards, then approx. 10cm backwards, then approx. 10cm to the left and approx. 10cm to the right. Afterwards it will ”unfold” the arm and ”fold” it again.

Groovy and older

Installation using build cmake

You first need to checkout the source code of this program from SVN and then compile it. We assume, that you have installed the KUKA youBot API already and you are going to install the application to the "applications" folder in your home directory. Follow these steps to checkout and compile:

cd
git clone https://github.com/youbot/youbot_applications.git
cd youbot_applications/hello_world_demo
mkdir build
cd build
cmake ..
make

The binary will be generated in the folder ~/applications/hello_world_demo/bin.

Usage

To start the application use:

cd bin 
sudo ./YouBot_HelloWorldDemo

The program will start, moving the base and the arm. The youBot will move approx. 10cm forwards, then approx. 10cm backwards, then approx. 10cm to the left and approx. 10cm to the right. Afterwards it will ”unfold” the arm and ”fold” it again.

If you want to write your own application, using this sources and folder structure, do not forget to edit the main CMakeLists.txt file, which resides in the hello_world_demo folder.

ADD_SUBDIRECTORY(./src/)

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